0.11.2: First Google Tango release

2026-10-07 18:27:46 +08:00 · 2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
@@ -0,0 +1,67 @@
+
+package com.introlab.rtabmap;
+import android.view.KeyEvent;
+
+
+// Wrapper for native library
+
+public class RTABMapLib
+{
+
+    static
+    {
+      System.loadLibrary("NativeRTABMap");
+    }
+
+ // Initialize the Tango Service, this function starts the communication
+    // between the application and Tango Service.
+    // The activity object is used for checking if the API version is outdated.
+    public static native int initialize(RTABMapActivity activity);
+    
+    public static native void openDatabase(String databasePath);
+    
+    public static native int onResume();
+
+    // Release all non OpenGl resources that are allocated from the program.
+    public static native void onPause();
+
+    // Allocate OpenGL resources for rendering.
+    public static native void initGlContent();
+
+    // Setup the view port width and height.
+    public static native void setupGraphic(int width, int height);
+
+    // Main render loop.
+    public static native int render();
+
+    // Set the render camera's viewing angle:
+    //   first person, third person, or top down.
+    public static native void setCamera(int cameraIndex);
+    
+    // Pass touch events to the native layer.
+    public static native void onTouchEvent(int touchCount, int event0,
+                                           float x0, float y0, float x1, float y1);
+    
+
+    public static native void setPausedMapping(boolean paused);
+    public static native void setMapCloudShown(boolean shown);
+    public static native void setOdomCloudShown(boolean shown);
+    public static native void setMeshRendering(boolean enabled);
+    public static native void setLocalizationMode(boolean enabled);
+    public static native void setTrajectoryMode(boolean enabled);
+    public static native void setGraphOptimization(boolean enabled);
+    public static native void setGraphVisible(boolean visible);
+    public static native void setAutoExposure(boolean enabled);
+
+    public static native void resetMapping();
+    public static native void save();
+    public static native boolean exportMesh(String filePath);
+    
+    public static native String getStatus();
+    public static native int getTotalNodes();
+    public static native int getTotalWords();
+    public static native int getTotalPoints();
+    public static native float getUpdateTime();
+    public static native int getLoopClosureId();
+    
+}